rosmain.py 文件源码

def __init__(self):
        self.petrone = Petrone()

        # subscriber
        self.sub_flight = rospy.Subscriber('cmd_fly', Int8, self.cb_fly, queue_size=1)
        self.sub_cmd = rospy.Subscriber('cmd_vel_raw', Twist, self.cb_cmd, queue_size=1)
        self.sub_color = rospy.Subscriber('led_color', String, self.cb_color, queue_size=1)

        # publisher
        self.pub_battery = rospy.Publisher('battery', Float32, queue_size=1)
        self.pub_status_flight = rospy.Publisher('status/flight', Int8, queue_size=1)
        self.pub_status_system = rospy.Publisher('status/system', Int8, queue_size=1)
        self.pub_imu = rospy.Publisher('imu', Imu, queue_size=1)

        # cache
        self.is_disconnected = True
        self.last_values = defaultdict(lambda: 0)

        # flight parameters
        self.twist = Twist()
        self.twist_at = 0